constant_rate_throttle_nodelet¶

images/lightweight_throttle_nodelet_diagram.svg

Description¶

This nodelet provides function like lightweight_throttle_nodelet, but support accurate publish rate.

The rate of throttled message is configurable by passing ~update rate parameter on launching this nodelet.

Subscribing Topic¶

~input (AnyMsg):

Input topic. This topic is throttled to low publish rate.

Publishing Topic¶

~output (AnyMsg):

Throttled topic. Publish rate of throttled topic is configurable by setting ~update_rate parameter. If ~update_rate is higher than input topic rate, published message is used from buffer.

Parameter¶

~update_rate (Double, default: 1.0):

Publish rate of throttled message [Hz]. This parameter is updated only on launching this nodelet.